EP3664003B1 - System and method for guiding an autonomous vehicle - Google Patents

System and method for guiding an autonomous vehicle Download PDF

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Publication number
EP3664003B1
EP3664003B1 EP19214047.3A EP19214047A EP3664003B1 EP 3664003 B1 EP3664003 B1 EP 3664003B1 EP 19214047 A EP19214047 A EP 19214047A EP 3664003 B1 EP3664003 B1 EP 3664003B1
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Prior art keywords
lighting
guiding
vehicle
lighting device
lighting devices
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German (de)
French (fr)
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EP3664003A1 (en
Inventor
Lars Bornemann
Christian König
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Siteco GmbH
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Siteco GmbH
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H05B47/165—Controlling the light source following a pre-assigned programmed sequence; Logic control [LC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls

Definitions

  • the present invention relates to a system and a method for driving an autonomous vehicle.
  • Autonomous vehicles such as drones or cleaning robots can be used to maintain or monitor buildings, for example to clean floors or monitor items on shelves. It is known that, for example, autonomous cleaning robots can move through buildings along random routes and that satisfactory cleaning results can often be achieved. However, it is often desirable for the autonomous vehicle to move along a predetermined route in order to avoid unnecessary detours or to ensure that all locations along the route are actually visited.
  • Radio LiDAR or camera-based systems
  • a complex infrastructure must be created.
  • the accuracy is often not sufficient.
  • Camera-based systems are expensive and have no 3D information about the locations.
  • active optical systems such as IR LED scanners or LiDAR systems must be used.
  • LiDAR systems and camera systems are complex, expensive and consume a lot of electrical energy and cannot provide targeted route planning.
  • WO 2015/036 912 A1 discloses a method and apparatus for activating a light source in a lighting system that includes a plurality of light sources.
  • An autonomous vehicle with one or more light sensors and a position detector navigates through the lighting system.
  • the Light sensor captures an identifier encoded in a light source and position detector determines the location of the autonomous vehicle. The location is assigned to the coded identifier and thus enables the light source to be put into operation.
  • WO 2019/048 296 A1 discloses that a mobile object configured for movement in an area equipped with VLC illumination sources includes a light sensor arranged to detect illumination from at least one of the illumination sources within view of the light sensor.
  • a computer is configured to determine from the detected illumination (i) a position of the mobile object with respect to the at least one illumination source and (ii) the identifier of the at least one illumination source.
  • WO 2018/105954 A1 discloses a system for driving an autonomous vehicle according to the preamble of claim 1.
  • the object of the present invention is to provide a system and a method for driving an autonomous vehicle that solves one or more of the above-mentioned problems from the prior art.
  • a system for driving an autonomous vehicle with a plurality of networked lighting devices comprises: a first lighting device with a first transmitter for transmitting a first guidance signal for guiding the vehicle, a second lighting device with a second transmitter for transmitting a second guidance signal for guiding the vehicle, and a controller which is designed to use the first and to control the second transmitter in such a way that the vehicle is guided from the first to the second lighting device.
  • a special feature of the system according to the present invention is that the lighting devices are not only used for lighting, but also for emitting guidance signals that can guide the autonomous vehicle from one lighting device to the next. The vehicle can thus be guided via the lighting devices.
  • the transmitters of the lighting devices can preferably be arranged directly next to the lighting means of the lighting devices.
  • the receivers of the lighting devices can be arranged next to the lighting means, in particular directly next to the lighting devices.
  • the lighting devices can be networked with one another via a cable-based network, e.g. a bus system, or by radio, e.g. via IEEE 802.11 or Bluetooth.
  • the bus system can be part of a building management system for the entire building.
  • the networking takes place via a light management system, which is responsible for controlling and managing the lighting devices in a building.
  • the vehicle is a drone. Since the lighting devices are usually arranged in a raised position, they are particularly suitable for guiding drones.
  • the drones preferably use a flight altitude that corresponds approximately to a height of the arrangement of the lighting devices.
  • the first and the second lighting device are permanently installed, in particular are part of a building installation.
  • the lighting devices can be arranged on the ceiling of a room or on storage shelves.
  • the plurality of lighting devices includes the first and second lighting devices.
  • the plurality of lighting devices preferably comprises a total of at least 10, in particular at least 50 lighting devices.
  • the multiplicity of lighting devices can be arranged as a light band system.
  • the lighting devices can be installed inside or outside of a building.
  • All lighting devices of the plurality of lighting devices are preferably permanently installed.
  • the lighting devices have sensors in order to determine their own position.
  • this can be GPS and/or Galileo sensors.
  • the first lighting device also has a first receiver for receiving a locating signal of the vehicle and the second lighting device also has a second receiver for receiving a locating signal of the vehicle.
  • the lighting devices can thus detect where the autonomous vehicle is currently located. For example, provided be that the second guidance signal is switched off when the vehicle has reached the second lighting device.
  • the fact that the vehicle has reached the second lighting device can be recognized, for example, when a signal measured by the second receiver has exceeded a predetermined threshold value.
  • the lighting devices can be designed to forward the information about the measured location signals via the network to other lighting devices.
  • the first transmitter and a light source of the first lighting device are arranged such that the guide signal transmitted by the first transmitter and light emitted by the light source are spatially distributed by common optics, in particular a reflector and/or a lens will.
  • This embodiment has the advantage that the optics of the lighting device that are present anyway (for distributing the light from an illuminant of the lighting device) can also be used to distribute the guide signal.
  • Modern lighting devices typically have complex optics in order to be able to distribute the light evenly over a target region. According to the embodiment, these optics can then also be used for the uniform distribution of the guide signal.
  • the controller is designed to control the multiplicity of lighting devices in such a way that only one transmitter from one lighting device is active at any time. This ensures that the autonomous vehicle is only ever guided to the lighting device that is to be controlled next.
  • the lighting devices are preferably controlled by a central control device controlled, wherein the central control device may have stored a route.
  • the first and the second transmitter are configured to emit frequency-modulated light.
  • different commands can be sent to the vehicle via different frequencies of the guidance signal.
  • a certain frequency can encode a stop signal, so that in an emergency, for example, a drone can be stopped immediately.
  • the first and the second transmitter comprise infrared light-emitting diodes.
  • Infrared light-emitting diodes are small, inexpensive, durable and have sufficient transmission power to reliably control the vehicle.
  • the infrared light-emitting diode is preferably arranged next to the lighting means of the lighting device.
  • the infrared light-emitting diode can be arranged directly next to the light source. Appropriate measures for heat dissipation may have to be taken so that the heat from the lamp does not overheat the infrared light-emitting diode.
  • the first and the second transmitter are designed to emit signals with different wavelengths and/or different frequency modulations.
  • different vehicles can be controlled differently. For example, a first vehicle can be commanded to follow a first route and a second vehicle can be commanded to follow a second route.
  • the plurality of lighting devices is a plurality of Includes receivers which are designed to receive locating signals transmitted by the vehicle, and a recording device which is designed to determine a route from the received locating signals.
  • the route can be determined by a user walking the route once and carrying a transmitter for the locating signal with him.
  • the location signals are received and recorded by the receivers of the lighting devices.
  • the sequence of the guide signals to be transmitted according to this route can then be determined from the sequence of when which receiver receives the locating signal.
  • the system is designed to receive a flight plan via a network, in particular a radio network.
  • the networked lighting devices may be networked with a control unit, where the control unit includes an input device for entering and displaying a route.
  • the first and the second transmitter are designed to transmit a guide signal with a first coding and a guide signal with a second coding that differs from the first coding.
  • Such coding can be used to steer different vehicles on different routes, or to send certain commands to the vehicles.
  • Instructions which, when executed by a processor, carry out the steps of the above method can be stored on a data medium.
  • the method further includes detecting a route along the plurality of lighting devices by, while the autonomous vehicle is moving along the route, a locating signal emitted by the autonomous vehicle and received by receivers of the plurality of lighting devices is recorded.
  • a further aspect of the invention relates to an autonomous vehicle which is designed to be guided along a route by a method according to one of claims 13 and 14 .
  • the autonomous vehicle can be a drone, i.e. an unmanned aerial vehicle, or a cleaning robot.
  • the autonomous vehicle can have one or more transmitters that are designed to emit the locating signal.
  • the autonomous vehicle can have one or more receivers that are designed to receive the guidance signals.
  • the autonomous vehicle can be part of one of the systems mentioned above. It goes without saying that the transmitter of the vehicle is preferably designed in such a way that its locating signal can be received by the receivers of the lighting devices.
  • FIG. 1 shows an arrangement for guiding a drone 10 through a room in a room 20 of a building.
  • the arrangement comprises a large number of lighting devices 1-8 which have transmitters for emitting a guidance signal.
  • the guidance begins when a guidance signal, for example in the infrared range, is emitted from the lighting device 1 .
  • the drone 10 receives this guidance signal.
  • the drone 10 then flies towards the guidance signal. If the drone 10 is near the lighting device 1, this transmission signal is switched off and the lighting device 2 begins to transmit.
  • the guidance runs accordingly up to the lighting device 8, with which the drone has reached the end point of the route 12.
  • In the room 20 there are further lighting devices 9 which are not involved in guiding the drone 10 on this route 12 .
  • the drone can be guided along the specified route 12, for example between the storage racks 22.
  • a room in a building instead of a room in a building, it can also be an outdoor room.
  • the drone guidance is therefore integrated within one light.
  • the transmission stage and reception stage can be located within the luminaire.
  • the transmission stage of the lamp sends a signal, eg through IR LED transmission diodes.
  • the receiving stage reacts to the location signals from the drone.
  • the optical cover of the lamp ensures a desired widening of the guidance signal.
  • the drone If the drone is in the area of the light, this is detected by the increase in the reception amplitude within the light.
  • This information is processed via an intelligent, networked system so that this lamp switches off the transmission of the guidance signal and the next lamp activates the transmission of the guidance signal.
  • the drone there is a transmission and reception stage, which is designed according to that of the lamp. This means that the transmitter of the drone is configured to transmit on a frequency that is received by the receiver of the light and the transmitter of the light is configured to transmit on a frequency that is received by the receiver of the drone.
  • the drone preferably knows a specific frequency modulation of the lights and can process this signal.
  • This frequency modulated unique signal in each light allows a drone to be guided quickly and easily through a building by following the light signals from the light in question.
  • the lights indicate the direction of movement for the drone.
  • the drone follows these light signals to the target.
  • Several drones can also be guided to the target via signal variants of the transmission LEDs.

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Description

Die vorliegende Erfindung betrifft ein System und ein Verfahren zum Führen eines autonomen Fahrzeugs.The present invention relates to a system and a method for driving an autonomous vehicle.

Für die Wartung oder Überwachung von Gebäuden, zum Beispiel zum Reinigen der Böden oder für die Überwachung von Gegenständen in Regalen, können autonome Fahrzeuge wie z.B. Drohnen oder Putzroboter eingesetzt werden. Es ist bekannt, dass z.B. autonome Putzroboter sich entlang zufälliger Routen durch Gebäude bewegen können und hierbei oft auch zufriedenstellende Putzergebnisse erzielt werden können. Häufig ist es aber wünschenswert, dass das autonomen Fahrzeug sich entlang einer vorbestimmten Route bewegt, um unnötige Umwege zu vermeiden, oder um sicherzustellen, dass alle Orte entlang der Route auch tatsächlich besucht werden.Autonomous vehicles such as drones or cleaning robots can be used to maintain or monitor buildings, for example to clean floors or monitor items on shelves. It is known that, for example, autonomous cleaning robots can move through buildings along random routes and that satisfactory cleaning results can often be achieved. However, it is often desirable for the autonomous vehicle to move along a predetermined route in order to avoid unnecessary detours or to ensure that all locations along the route are actually visited.

Bekannt ist aus dem Stand der Technik, Funk, LiDAR oder Kamerabasierte Systeme zu verwenden um ein autonomes Fahrzeug entlang einer Route zu steuern. Im Falle der Funkführung muss eine aufwendige Infrastruktur erstellt werden. Die Genauigkeit ist dabei dennoch oft nicht ausreichend. Kamerabasierte Systeme sind aufwendig und haben keine 3D-Information der Örtlichkeiten. Um 3D-Informationen zu erlangen müssen aktive Optische Systeme wie IR LED Scanner oder LiDAR Systeme verwendet werden. LiDARsysteme, sowie Kamerasysteme sind aufwendig, teuer und verbrauchen viel elektrische Energie und können keine gezielte Routenplanung bereitstellen.It is known from the prior art to use radio, LiDAR or camera-based systems to control an autonomous vehicle along a route. In the case of radio control, a complex infrastructure must be created. However, the accuracy is often not sufficient. Camera-based systems are expensive and have no 3D information about the locations. In order to obtain 3D information, active optical systems such as IR LED scanners or LiDAR systems must be used. LiDAR systems and camera systems are complex, expensive and consume a lot of electrical energy and cannot provide targeted route planning.

WO 2015/036 912 A1 offenbart ein Verfahren und Vorrichtungen zur Inbetriebnahme einer Lichtquelle in einem Beleuchtungssystem, das eine Vielzahl von Lichtquellen umfasst. Ein autonomes Fahrzeug mit einem oder mehreren Lichtsensoren und einem Positionsdetektor navigiert durch das Beleuchtungssystem. Der Lichtsensor erfasst einen in einer Lichtquelle kodierten Identifikator und der Positionsdetektor bestimmt den Standort des autonomen Fahrzeugs. Der Ort ist dem kodierten Identifikator zugeordnet und ermöglicht so die Inbetriebnahme der Lichtquelle. WO 2015/036 912 A1 discloses a method and apparatus for activating a light source in a lighting system that includes a plurality of light sources. An autonomous vehicle with one or more light sensors and a position detector navigates through the lighting system. Of the Light sensor captures an identifier encoded in a light source and position detector determines the location of the autonomous vehicle. The location is assigned to the coded identifier and thus enables the light source to be put into operation.

WO 2019/048 296 A1 offenbart, dass ein mobiles Objekt, das für die Bewegung in einem mit VLC-Beleuchtungsquellen ausgestatteten Bereich konfiguriert ist, einen Lichtsensor umfasst, der angeordnet ist, um die Beleuchtung von mindestens einer der Beleuchtungsquellen innerhalb der Ansicht des Lichtsensors zu erfassen. Ein Computer ist konfiguriert, um aus der erfassten Beleuchtung (i) eine Position des mobilen Objekts in Bezug auf die mindestens eine Beleuchtungsquelle und (ii) die Kennung der mindestens einen Beleuchtungsquelle zu bestimmen. WO 2019/048 296 A1 discloses that a mobile object configured for movement in an area equipped with VLC illumination sources includes a light sensor arranged to detect illumination from at least one of the illumination sources within view of the light sensor. A computer is configured to determine from the detected illumination (i) a position of the mobile object with respect to the at least one illumination source and (ii) the identifier of the at least one illumination source.

WO 2018/105954 A1 offenbart ein System zum Führen eines autonomen Fahrzeugs gemäß dem Oberbegriff des Anspruchs 1. WO 2018/105954 A1 discloses a system for driving an autonomous vehicle according to the preamble of claim 1.

Aufgabe der vorliegenden Erfindung ist es, ein System und ein Verfahren zum Führen eines autonomen Fahrzeugs bereitzustellen, das eine oder mehrere der oben genannten Probleme aus dem Stand der Technik löst.The object of the present invention is to provide a system and a method for driving an autonomous vehicle that solves one or more of the above-mentioned problems from the prior art.

Gelöst wird die Aufgabe durch ein System nach Anspruch 1.The task is solved by a system according to claim 1.

Insbesondere wird ein System zum Führen eines autonomen Fahrzeugs mit einer Vielzahl von vernetzten Beleuchtungsvorrichtungen bereitgestellt. Das System umfasst: eine erste Beleuchtungsvorrichtung mit einem ersten Sender zum Senden eines ersten Führsignals zum Führen des Fahrzeugs, eine zweite Beleuchtungsvorrichtung mit einem zweiten Sender zum Senden eines zweiten Führsignals zum Führen des Fahrzeugs, und eine Steuerung, die dazu ausgebildet ist, den ersten und den zweiten Sender so anzusteuern, dass das Fahrzeug von der ersten zu der zweiten Beleuchtungsvorrichtung geführt wird.In particular, a system for driving an autonomous vehicle with a plurality of networked lighting devices is provided. The system comprises: a first lighting device with a first transmitter for transmitting a first guidance signal for guiding the vehicle, a second lighting device with a second transmitter for transmitting a second guidance signal for guiding the vehicle, and a controller which is designed to use the first and to control the second transmitter in such a way that the vehicle is guided from the first to the second lighting device.

Eine Besonderheit des Systems gemäß der vorliegenden Erfindung besteht darin, dass die Beleuchtungsvorrichtungen nicht nur zur Beleuchtung verwendet werden, sondern darüber hinaus auch zum Aussenden von Führsignalen, die das autonome Fahrzeug von einer Beleuchtungsvorrichtung zur nächsten führen können. Somit kann also die Führung des Fahrzeugs über die Beleuchtungsvorrichtungen erfolgen.A special feature of the system according to the present invention is that the lighting devices are not only used for lighting, but also for emitting guidance signals that can guide the autonomous vehicle from one lighting device to the next. The vehicle can thus be guided via the lighting devices.

Die Sender der Beleuchtungsvorrichtungen können vorzugsweise unmittelbar neben den Leuchtmitteln der Beleuchtungsvorrichtungen angeordnet sein. Ebenso können die Empfänger der Beleuchtungsvorrichtungen neben den Leuchtmitteln, insbesondere unmittelbar neben den Beleuchtungsvorrichtungen, angeordnet sein.The transmitters of the lighting devices can preferably be arranged directly next to the lighting means of the lighting devices. Likewise, the receivers of the lighting devices can be arranged next to the lighting means, in particular directly next to the lighting devices.

Die Vernetzung der Beleuchtungsvorrichtungen untereinander kann über ein kabelbasiertes Netzwerk, z.B. ein Bus-System, oder per Funk, z.B. per IEEE 802.11 oder Bluetooth, erfolgen. Das Bus-System kann Teil eines Building Management Systems für das ganze Gebäude sein. In anderen Ausführungsformen erfolgt die Vernetzung über eine Light Management System, das für die Ansteuerung und Verwaltung der Beleuchtungsvorrichtungen in einem Gebäude zuständig ist.The lighting devices can be networked with one another via a cable-based network, e.g. a bus system, or by radio, e.g. via IEEE 802.11 or Bluetooth. The bus system can be part of a building management system for the entire building. In other embodiments, the networking takes place via a light management system, which is responsible for controlling and managing the lighting devices in a building.

Gemäß einer bevorzugten Ausführungsform ist das Fahrzeug eine Drohne. Da die Beleuchtungsvorrichtungen üblicherweise erhöht angeordnet sind, sind sie besonders geeignet, um Drohnen zu führen. Vorzugsweise verwenden die Drohnen dabei eine Flughöhe, die ungefähr einer Höhe der Anordnung der Beleuchtungsvorrichtungen entspricht.According to a preferred embodiment, the vehicle is a drone. Since the lighting devices are usually arranged in a raised position, they are particularly suitable for guiding drones. The drones preferably use a flight altitude that corresponds approximately to a height of the arrangement of the lighting devices.

Gemäß einer bevorzugten Ausführungsform ist vorgesehen, dass die erste und die zweite Beleuchtungsvorrichtung fest installiert sind, insbesondere Teil einer Gebäudeinstallation sind. Zum Beispiel können die Beleuchtungsvorrichtungen an der Decke eines Raumes oder an Lagerregalen angeordnet sein.According to a preferred embodiment, it is provided that the first and the second lighting device are permanently installed, in particular are part of a building installation. To the For example, the lighting devices can be arranged on the ceiling of a room or on storage shelves.

Die Vielzahl von Beleuchtungsvorrichtungen umfasst die erste und die zweite Beleuchtungsvorrichtung. Vorzugsweise umfasst die Vielzahl von Beleuchtungsvorrichtungen insgesamt mindestens 10, insbesondere mindestens 50 Beleuchtungsvorrichtungen.The plurality of lighting devices includes the first and second lighting devices. The plurality of lighting devices preferably comprises a total of at least 10, in particular at least 50 lighting devices.

Die Vielzahl von Beleuchtungsvorrichtungen kann als Lichtbandsystem angeordnet sein.The multiplicity of lighting devices can be arranged as a light band system.

Dies hat den Vorteil, dass die Position der Beleuchtungsvorrichtungen unveränderlich ist, und somit nur einmal eine Route entlang der Beleuchtungsvorrichtungen bestimmt werden muss.This has the advantage that the position of the lighting devices cannot be changed, so that a route along the lighting devices only has to be determined once.

Die Beleuchtungsvorrichtungen können im Innenraum oder in einem Außenraumen eines Gebäudes installiert werden.The lighting devices can be installed inside or outside of a building.

Vorzugsweise sind alle Beleuchtungsvorrichtungen der Vielzahl von Beleuchtungsvorrichtungen fest installiert.All lighting devices of the plurality of lighting devices are preferably permanently installed.

In Ausführungsformen kann vorgesehen sein, dass die Beleuchtungsvorrichtungen Sensoren aufweisen, um ihre eigene Position zu bestimmen. Zum Beispiel können dies GPS- und/oder Galileo-Sensoren sein.In embodiments it can be provided that the lighting devices have sensors in order to determine their own position. For example, this can be GPS and/or Galileo sensors.

Gemäß einer bevorzugten Ausführungsform ist vorgesehen, dass die erste Beleuchtungsvorrichtung weiterhin einen ersten Empfänger zum Empfangen eines Ortungssignals des Fahrzeugs und die zweite Beleuchtungsvorrichtung weiterhin einen zweiten Empfänger zum Empfangen eines Ortungssignals des Fahrzeugs aufweist.According to a preferred embodiment it is provided that the first lighting device also has a first receiver for receiving a locating signal of the vehicle and the second lighting device also has a second receiver for receiving a locating signal of the vehicle.

Somit können die Beleuchtungsvorrichtungen erfassen, wo sich das autonome Fahrzeug gerade befindet. Zum Beispiel kann vorgesehen sein, dass das zweite Führsignal dann abgeschaltet wird, wenn das Fahrzeug die zweite Beleuchtungsvorrichtung erreicht hat. Dass das Fahrzeug die zweite Beleuchtungsvorrichtung erreicht hat, kann z.B. erkannt werden, wenn ein von dem zweiten Empfänger gemessenes Signal einen vorbestimmten Schwellenwert überschritten hat.The lighting devices can thus detect where the autonomous vehicle is currently located. For example, provided be that the second guidance signal is switched off when the vehicle has reached the second lighting device. The fact that the vehicle has reached the second lighting device can be recognized, for example, when a signal measured by the second receiver has exceeded a predetermined threshold value.

Die Beleuchtungsvorrichtungen können dazu ausgebildet sein, die Information über die gemessenen Ortungssignale über das Netzwerk zu anderen Beleuchtungsvorrichtungen weiterzuleiten.The lighting devices can be designed to forward the information about the measured location signals via the network to other lighting devices.

Gemäß einer bevorzugten Ausführungsform ist vorgesehen, dass der erste Sender und ein Leuchtmittel der ersten Beleuchtungsvorrichtung so angeordnet sind, dass das vom ersten Sender gesendete Führsignal und von dem Leuchtmittel emittiertes Licht durch eine gemeinsame Optik, insbesondere einen Reflektor und/oder eine Linse, räumlich verteilt werden.According to a preferred embodiment, it is provided that the first transmitter and a light source of the first lighting device are arranged such that the guide signal transmitted by the first transmitter and light emitted by the light source are spatially distributed by common optics, in particular a reflector and/or a lens will.

Diese Ausführungsform hat den Vorteil, dass die sowieso vorhandene Optik der Beleuchtungsvorrichtung (zum Verteilen des Lichts von einem Leuchtmittel der Beleuchtungsvorrichtung) auch zur Verteilung des Führsignals verwendet werden kann. Moderne Beleuchtungsvorrichtungen haben typischerweise eine aufwendige Optik, um das Licht gleichmäßig auf eine Zielregion verteilen zu können. Diese Optik kann gemäß der Ausführungsform dann auch zur gleichmäßigen Verteilung des Führsignals verwendet werden.This embodiment has the advantage that the optics of the lighting device that are present anyway (for distributing the light from an illuminant of the lighting device) can also be used to distribute the guide signal. Modern lighting devices typically have complex optics in order to be able to distribute the light evenly over a target region. According to the embodiment, these optics can then also be used for the uniform distribution of the guide signal.

Erfindungsgemäß ist vorgesehen, dass die Steuerung dazu ausgebildet ist, die Vielzahl von Beleuchtungsvorrichtungen so anzusteuern, dass zu jedem Zeitpunkt nur ein Sender von einer Beleuchtungsvorrichtung aktiv ist. Somit ist sichergestellt, dass das autonome Fahrzeug immer nur zu der Beleuchtungsvorrichtung hingeführt wird, die als nächstes angesteuert werden soll. Vorzugsweise werden die Beleuchtungsvorrichtungen von einer zentralen Steuervorrichtung angesteuert, wobei die zentrale Steuervorrichtung eine Route gespeichert haben kann.According to the invention, it is provided that the controller is designed to control the multiplicity of lighting devices in such a way that only one transmitter from one lighting device is active at any time. This ensures that the autonomous vehicle is only ever guided to the lighting device that is to be controlled next. The lighting devices are preferably controlled by a central control device controlled, wherein the central control device may have stored a route.

Gemäß einer bevorzugten Ausführungsform ist vorgesehen, dass der erste und der zweite Sender konfiguriert sind, um frequenzmoduliertes Licht auszusenden. Zumindest Beispiel können über unterschiedliche Frequenzen des Führsignals unterschiedliche Befehle an das Fahrzeug gesendet werden. Zum Beispiel kann eine bestimme Frequenz ein Stoppsignal kodieren, so dass zum Beispiel in einem Notfall eine Drohne sofort gestoppt werden kann.According to a preferred embodiment it is provided that the first and the second transmitter are configured to emit frequency-modulated light. At least for example, different commands can be sent to the vehicle via different frequencies of the guidance signal. For example, a certain frequency can encode a stop signal, so that in an emergency, for example, a drone can be stopped immediately.

Gemäß einer bevorzugten Ausführungsform ist vorgesehen, dass der erste und der zweite Sender Infrarot-Leuchtdioden umfassen. Infrarot-Leuchtdioden sind klein, kostengünstig, langlebig und von ausreichender Sendleistung, um das Fahrzeug zuverlässig anzusteuern. Vorzugsweise wird die Infrarot-Leuchtdiode neben dem Leuchtmittel der Beleuchtungsvorrichtung angeordnet. Zum Beispiel kann die Infrarot-Leuchtiode unmittelbar neben dem Leuchtmittel angeordnet sein. Ggf. müssen geeignete Maßnahmen zur Wärmeableitung getroffen werden, damit die Wärme des Leuchtmittels nicht zu einer Überhitzung der Infrarot-Leuchtdiode führt.According to a preferred embodiment it is provided that the first and the second transmitter comprise infrared light-emitting diodes. Infrared light-emitting diodes are small, inexpensive, durable and have sufficient transmission power to reliably control the vehicle. The infrared light-emitting diode is preferably arranged next to the lighting means of the lighting device. For example, the infrared light-emitting diode can be arranged directly next to the light source. Appropriate measures for heat dissipation may have to be taken so that the heat from the lamp does not overheat the infrared light-emitting diode.

Gemäß einer bevorzugten Ausführungsform ist vorgesehen, dass der erste und der zweite Sender dazu ausgebildet sind, Signale mit unterschiedlicher Wellenlänge und/oder unterschiedlicher Frequenzmodulation auszusenden. Somit können unterschiedliche Fahrzeuge unterschiedlich angesteuert werden. Zum Beispiel kann ein erstes Fahrzeug angesteuert werden, um einer ersten Route zu folgen und ein zweites Fahrzeug kann angesteuert werden, um einer zweiten Route zu folgen.According to a preferred embodiment, it is provided that the first and the second transmitter are designed to emit signals with different wavelengths and/or different frequency modulations. Thus, different vehicles can be controlled differently. For example, a first vehicle can be commanded to follow a first route and a second vehicle can be commanded to follow a second route.

Gemäß einer bevorzugten Ausführungsform ist vorgesehen, dass die Vielzahl von Beleuchtungsvorrichtungen eine Vielzahl von Empfängern umfasst, die dazu ausgebildet sind, von dem Fahrzeug ausgesendete Ortungssignale zu empfangen, sowie eine Aufzeichnungsvorrichtung, die dazu ausgebildet ist, aus den empfangenen Ortungssignalen eine Route zu bestimmen.According to a preferred embodiment it is provided that the plurality of lighting devices is a plurality of Includes receivers which are designed to receive locating signals transmitted by the vehicle, and a recording device which is designed to determine a route from the received locating signals.

Somit kann zum Beispiel die Route dadurch festgelegt werden, dass ein Benutzer die Route einmal zu Fuß abläuft und dabei einen Sender für das Ortungssignal mit sich führt. Die Ortungssignale werden von den Empfängern der Beleuchtungsvorrichtungen empfangen und aufgezeichnet. Aus der Abfolge, wann welcher Empfänger das Ortungssignal empfängt, kann dann die Abfolge der auszusendenden Führsignale gemäß dieser Route bestimmt werden.Thus, for example, the route can be determined by a user walking the route once and carrying a transmitter for the locating signal with him. The location signals are received and recorded by the receivers of the lighting devices. The sequence of the guide signals to be transmitted according to this route can then be determined from the sequence of when which receiver receives the locating signal.

Gemäß einer bevorzugten Ausführungsform ist vorgesehen, dass das System dazu ausgebildet ist, einen Flugplan über ein Netzwerk, insbesondere ein Funk-Netzwerk, zu empfangen. Zum Beispiel können die vernetzten Beleuchtungsvorrichtungen mit einer Steuereinheit vernetzt sein, wobei die Steuereinheit eine Eingabevorrichtung zum Eingeben und Darstellen einer Route beinhaltet.According to a preferred embodiment, it is provided that the system is designed to receive a flight plan via a network, in particular a radio network. For example, the networked lighting devices may be networked with a control unit, where the control unit includes an input device for entering and displaying a route.

Gemäß einer bevorzugten Ausführungsform ist vorgesehen, dass der erste und der zweite Sender ausgebildet sind, ein Führsignal mit einer ersten Codierung und ein Führsignal mit einer zweiten Codierung, das von der ersten Codierung verschieden ist, zu senden. Derartige Codierungen können verwendet werden, um unterschiedliche Fahrzeuge auf unterschiedliche Routen zu steuern, oder um bestimmte Kommandos an die Fahrzeuge zu senden.According to a preferred embodiment, it is provided that the first and the second transmitter are designed to transmit a guide signal with a first coding and a guide signal with a second coding that differs from the first coding. Such coding can be used to steer different vehicles on different routes, or to send certain commands to the vehicles.

Gemäß einem weiteren Aspekt der vorliegenden Erfindung wird ein
Verfahren zum Führen eines autonomen Fahrzeugs mit einer Vielzahl von Beleuchtungsvorrichtungen bereitgestellt. Das Verfahren umfasst die Schritte:

  • Senden, von einer ersten Beleuchtungsvorrichtung, eines ersten Führsignals zum Führen des Fahrzeugs zu der ersten Beleuchtungsvorrichtung, und
  • Senden, von einer zweiten Beleuchtungsvorrichtung, eines zweiten Führsignals zum Führen des Fahrzeugs zu der zweiten Beleuchtungsvorrichtung.
According to a further aspect of the present invention, a
Method for driving an autonomous vehicle provided with a variety of lighting devices. The procedure includes the steps:
  • sending, from a first lighting device, a first guidance signal for guiding the vehicle to the first lighting device, and
  • sending, from a second lighting device, a second guidance signal for guiding the vehicle to the second lighting device.

Anweisungen, die, wenn sie von einem Prozessor ausgeführt werden, die Schritte des oben genannten Verfahrens ausführen, können auf einem Datenträger gespeichert werden.Instructions which, when executed by a processor, carry out the steps of the above method can be stored on a data medium.

Gemäß einer bevorzugten Ausführungsform ist vorgesehen, dass das Verfahren weiterhin umfasst, eine Route entlang der Vielzahl von Beleuchtungsvorrichtungen zu erfassen, indem, während sich das autonome Fahrzeug entlang der Route bewegt, ein von dem autonomen Fahrzeug emittiertes und von Empfängern der Vielzahl von Beleuchtungsvorrichtungen empfangenes Ortungssignal aufgezeichnet wird.According to a preferred embodiment, it is provided that the method further includes detecting a route along the plurality of lighting devices by, while the autonomous vehicle is moving along the route, a locating signal emitted by the autonomous vehicle and received by receivers of the plurality of lighting devices is recorded.

Ein weiterer Aspekt der Erfindung bezieht sich auf ein autonomes Fahrzeug, das dazu ausgebildet ist durch ein Verfahren gemäß einem der Ansprüche 13 und 14 entlang einer Route geführt zu werden. Zum Beispiel kann es sich bei dem autonomen Fahrzeug um eine Drohne, d.h. ein unbemanntes Luftfahrzeug oder um einen Putzroboter handeln. Das autonome Fahrzeug kann ein oder mehrere Sender aufweisen, die dazu ausgebildet sind, das Ortungssignal auszusenden. Weiterhin kann das autonome Fahrzeug ein oder mehrere Empfänger aufweisen, die dazu ausgebildet sind, die Führsignale zu empfangen.A further aspect of the invention relates to an autonomous vehicle which is designed to be guided along a route by a method according to one of claims 13 and 14 . For example, the autonomous vehicle can be a drone, i.e. an unmanned aerial vehicle, or a cleaning robot. The autonomous vehicle can have one or more transmitters that are designed to emit the locating signal. Furthermore, the autonomous vehicle can have one or more receivers that are designed to receive the guidance signals.

Das autonome Fahrzeug kann Bestandteil eines der obengenannten Systeme sein. Es versteht sich, dass dabei der Sender des Fahrzeugs vorzugsweise so ausgebildet ist, dass sein Ortungssignal von den Empfängern der Beleuchtungsvorrichtungen empfangen werden kann.The autonomous vehicle can be part of one of the systems mentioned above. It goes without saying that the transmitter of the vehicle is preferably designed in such a way that its locating signal can be received by the receivers of the lighting devices.

Weitere Merkmale und Vorteile der vorliegenden Erfindung werden aus der nachfolgenden detaillierten Beschreibung einer Ausführungsform deutlich, welche in Bezug auf die beigefügte Figur gegeben wird.Other characteristics and advantages of the present invention will appear from the following detailed description of an embodiment given with reference to the attached figure.

FIG. 1 zeigt eine Anordnung zum Führen einer Drohne 10 durch einen Raum in einem Raum 20 eines Gebäudes. Die Anordnung umfasst eine Vielzahl von Beleuchtungsvorrichtungen 1-8, die Sender zum Aussenden eines Führsignals aufweisen. Die Führung beginnt, indem an der Beleuchtungsvorrichtung 1 ein Führsignal, z.B. im Infrarotbereich, ausgegeben wird. Dieses Führsignal wird von der Drohne 10 empfangen. Die Drohne 10 fliegt daraufhin auf das Führsignal zu. Befindet sich die Drohne 10 bei der Beleuchtungsvorrichtung 1, wird dieses Sendesignal abgeschaltet und die Beleuchtungsvorrichtung 2 beginnt zu senden. Die Führung verläuft entsprechend bis zur Beleuchtungsvorrichtung 8, womit die Drohne den Endpunkt der Route 12 erreicht hat. In dem Raum 20 befinden sich weitere Beleuchtungsvorrichtungen 9, die bei der Führung der Drohne 10 auf dieser Route 12 nicht involviert sind. Weiterhin befinden sich in dem Raum 10 Lagerregale 22. Die Drohne kann auf der vorgegebenen Route 12 z.B. zwischen den Lagerregalen 22 geführt werden. FIG. 1 shows an arrangement for guiding a drone 10 through a room in a room 20 of a building. The arrangement comprises a large number of lighting devices 1-8 which have transmitters for emitting a guidance signal. The guidance begins when a guidance signal, for example in the infrared range, is emitted from the lighting device 1 . The drone 10 receives this guidance signal. The drone 10 then flies towards the guidance signal. If the drone 10 is near the lighting device 1, this transmission signal is switched off and the lighting device 2 begins to transmit. The guidance runs accordingly up to the lighting device 8, with which the drone has reached the end point of the route 12. In the room 20 there are further lighting devices 9 which are not involved in guiding the drone 10 on this route 12 . Furthermore, there are storage racks 22 in the room 10. The drone can be guided along the specified route 12, for example between the storage racks 22.

In anderen Ausführungsformen kann es sich statt um einen Raum in einem Gebäude auch um einen Raum im Freien handeln.In other embodiments, instead of a room in a building, it can also be an outdoor room.

Bei der Anordnung gemäß FIG. 1 erfolgt also eine Integration der Drohnenführung innerhalb einer Leuchte. Hierbei können sich Sendestufe und Empfangsstufe innerhalb der Leuchte befinden. Die Sendestufe der Leuchte sendet ein Signal, z.B. durch IR LED Sendedioden aus. Die Empfangsstufe reagiert auf die Ortungssignale der Drohne. Die lichttechnische Abdeckung der Leuchte sorgt für eine gewünschte Aufweitung des Führsignals.According to the arrangement FIG. 1 the drone guidance is therefore integrated within one light. In this case, the transmission stage and reception stage can be located within the luminaire. The transmission stage of the lamp sends a signal, eg through IR LED transmission diodes. The receiving stage reacts to the location signals from the drone. The optical cover of the lamp ensures a desired widening of the guidance signal.

Befindet sich die Drohne im Bereich der Leuchte wird dies durch den Anstieg der Empfangsamplitude innerhalb der Leuchte detektiert. Über ein intelligentes vernetztes System wird diese Information verarbeitet, so dass diese Leuchte das Senden des Führsignals abschaltet und die nächste Leuchte das Aussenden des Führsignals aktiviert. In der Drohne befindet sich eine Sende und Empfangsstufe, welche entsprechend zu der der Leuchte ausgebildet ist. Das bedeutet, die Sendestufe der Drohne ist ausgebildet, um auf einer Frequenz zu senden, die von dem Empfänger der Leuchte empfangen wird und der Sender der Leuchte ist ausgebildet, auf einer Frequenz zu senden, die von der Empfangsstufe der Drohne empfangen wird.If the drone is in the area of the light, this is detected by the increase in the reception amplitude within the light. This information is processed via an intelligent, networked system so that this lamp switches off the transmission of the guidance signal and the next lamp activates the transmission of the guidance signal. In the drone there is a transmission and reception stage, which is designed according to that of the lamp. This means that the transmitter of the drone is configured to transmit on a frequency that is received by the receiver of the light and the transmitter of the light is configured to transmit on a frequency that is received by the receiver of the drone.

Vorzugsweise kennt die Drohne eine spezifische Frequenzmodulation der Leuchten und kann dieses Signal verarbeiten. Durch dieses frequenzmodulierte eindeutige Signal in jeder Leuchte kann eine Drohne schnell und einfach durch ein Gebäude geleitet werden, indem sie den Lichtsignalen der jeweiligen Leuchte folgt. Die Leuchten geben die Bewegungsrichtung für die Drohne vor. Die Drohne folgt diesen Lichtsignalen bis zum Ziel. Über Signalvarianten der Sende-LEDs lassen sich auch mehrere Drohnen ins Ziel führen.The drone preferably knows a specific frequency modulation of the lights and can process this signal. This frequency modulated unique signal in each light allows a drone to be guided quickly and easily through a building by following the light signals from the light in question. The lights indicate the direction of movement for the drone. The drone follows these light signals to the target. Several drones can also be guided to the target via signal variants of the transmission LEDs.

BEZUGSZEICHENLISTEREFERENCE LIST

1-91-9
Beleuchtungsvorrichtunglighting device
1010
Drohnedrone
1212
Routeroute
2020
RaumSpace
2222
Lagerregalstorage rack

Claims (14)

  1. A system for guiding an autonomous vehicle (10) having a plurality of networked lighting devices (1-9), comprising:
    a first lighting device (1-9) having a first transmitter for transmitting a first guiding signal for guiding the vehicle,
    a second lighting device (1-9) having a second transmitter for transmitting a second guiding signal for guiding the vehicle, and
    a controller configured to control the first and second transmitters such that the vehicle is guided from the first to the second lighting device,
    characterised in that the lighting devices are arranged to be used not only for lighting, but also for transmitting guiding signals, and in that the controller is configured to control the plurality of lighting devices (1-9) such that only one transmitter from one lighting device is active at any time.
  2. The system according to claim 1, wherein the vehicle (10) is a drone.
  3. The system according to any one of the preceding claims, wherein the first and second lighting devices (1-9) are fixedly installed, in particular are part of a building installation.
  4. The system according to any one of the preceding claims, wherein the first lighting device (1-9) further comprises a first receiver for receiving a locating signal of the vehicle and the second lighting device (1-9) further comprises a second receiver for receiving a locating signal of the vehicle (10).
  5. The system according to any one of the preceding claims, wherein the first transmitter and a lighting means of the first lighting device (1-9) are arranged such that the guiding signal transmitted by the first transmitter and light emitted by the lighting means are spatially distributed by a common optics, in particular a reflector or a lens.
  6. The system according to any one of the preceding claims, wherein the first and second transmitters are configured to emit frequency modulated light.
  7. The system according to any one of the preceding claims, wherein the first transmitter comprises an infrared light emitting diode, wherein the first infrared light emitting diode is preferably arranged next to a lighting means of the first lighting device (1-9).
  8. The system according to any one of the preceding claims, wherein the first and second transmitters are configured to emit signals with different wavelength and/or different frequency modulation.
  9. The system according to any one of the preceding claims, wherein the plurality of lighting devices (1-9) comprises a plurality of receivers configured to receive locating signals emitted by the vehicle (10) and a recording device configured to determine a route (12) from the received locating signals.
  10. The system according to any one of the preceding claims, wherein the system is configured to receive a route via a network, in particular a radio network.
  11. The system according to any one of the preceding claims, wherein the first and second transmitters are configured to transmit a guiding signal with a first coding and a guiding signal with a second coding, which is different from the first coding.
  12. A method for guiding an autonomous vehicle (10) having a plurality of networked lighting devices (1-9), comprising:
    - transmitting, from a first lighting device, a first guiding signal for guiding the vehicle (10) to the first lighting device,
    - transmitting, from a second lighting device, a second guiding signal for guiding the vehicle to the second lighting device,
    characterised in that the lighting devices are arranged to be used not only for lighting, but also for transmitting guiding signals, and in that the controller controls a plurality of lighting devices such that only one transmitter from one lighting device is active at any time.
  13. The method according to claim 12, wherein the method further comprises detecting a route (12) along the plurality of lighting devices (1-9) by recording, while the autonomous vehicle is moving along the route, a locating signal emitted by the autonomous vehicle and received by receivers of the plurality of lighting devices.
  14. An autonomous vehicle (10) configured to be guided along a route (12) by a method according to any one of claims 12 and 13.
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